E:/Programming/MyProject/K_Game_hg/GameEngine/include/core/Quaternion.h

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// Copyright 2006-2011 by Kat'Oun

#ifndef _QUATERNION_H_
#define _QUATERNION_H_

#include <EngineConfig.h>
#include <core/Types.h>

namespace core
{

class matrix4;
class vector3d;

class ENGINE_PUBLIC_EXPORT quaternion
{

public:

        quaternion();
        quaternion(const matrix4& mat);
        quaternion(f32 x, f32 y, f32 z);
        quaternion(f32 X, f32 Y, f32 Z, f32 W);
        quaternion(const quaternion& other);
        quaternion(const vector3d& axis, const f32& angle);
        
        quaternion operator- () const;

        quaternion& operator=(const quaternion& other);

        quaternion& operator=(const matrix4& other);

        quaternion operator+(const quaternion& other) const;

        quaternion operator-(const quaternion& other) const;

        quaternion operator*(const quaternion& other) const;

        quaternion operator*(f32 s) const;

        quaternion& operator*=(f32 s);

        vector3d operator*(const vector3d& v) const;

        quaternion& operator*=(const quaternion& other);

        bool operator==(const quaternion& other) const;

        bool operator!=(const quaternion& other) const;

        void set(f32 x, f32 y, f32 z, f32 w);

        void set(f32 x, f32 y, f32 z);

        void set(vector3d rot);

        void setDegrees(f32 x, f32 y, f32 z);

        void setDegrees(vector3d rot);

        void setDegrees(const vector3d& axis, const f32& angle);

        void invert();//non-zero quaternion
        void unitInvert();//unit-length quaternion

        quaternion getInverse() const;//non-zero quaternion
        quaternion getUnitInverse() const;//unit-length quaternion

        quaternion& normalize();

        f32 dotProduct(const quaternion& other) const;

        //from angle in radians and axis
        void fromAngleAxis(const f32& angle, const vector3d& axis);

        //from degrees and axis
        void fromDegreeAxis(const f32& degree, const vector3d& axis);

        void fromRotationMatrix(const matrix4& m);

        matrix4 toRotationMatrix() const;

        vector3d toEulerAngles() const;

        vector3d toEulerDegrees() const;

        f32 getXDegrees() const;

        f32 getYDegrees() const;

        f32 getZDegrees() const;

        static const quaternion ZERO;
        static const quaternion IDENTITY;

        f32 X, Y, Z, W;
};

} // end namespace core

#endif